robosuite

1.5.2 verified Mon Apr 27 auth: no python

robosuite is a modular simulation framework and benchmark for robot learning powered by MuJoCo physics. Version 1.5.2 (released 2025) adds diverse robot embodiments including humanoids, composite controllers, and photorealistic rendering. The API has undergone major breaking changes at v1.4 (new MuJoCo bindings) and v1.5 (controller restructuring).

pip install robosuite

Common errors

error ModuleNotFoundError: No module named 'mujoco' ↓

cause Missing new MuJoCo bindings (v1.4+ requirement).

fix

pip install mujoco

error AttributeError: module 'robosuite' has no attribute 'make' ↓

cause Trying to import `make` directly instead of using `robosuite.make()`.

fix

import robosuite as suite; env = suite.make(...)

Warnings

breaking v1.4 switched from old mujoco-py bindings to DeepMind's mujoco (pip install mujoco). Old environments are incompatible without migration. ↓

fix Reinstall with `pip install robosuite` which now depends on `mujoco>=2.3.0`. Remove any old mujoco-py installation.

breaking v1.5 changed controller configuration. `load_controller_config` moved to `robosuite.controllers`. `OSC_POSE` replaces old OSC controller. ↓

fix Use `from robosuite.controllers import load_controller_config` and specify `default_controller='OSC_POSE'`.

gotcha `env.reset()` returns only observations (no info dict) in most environments. Many users expect a tuple `(obs, info)`. ↓

fix Check documentation: `obs = env.reset()`. Info is only available in some wrappers.

gotcha Rendering requires `has_renderer=True` and a `viewer` installation. On headless systems use `has_offscreen_renderer=True` with `render_camera`. ↓

fix Set `has_renderer=False, has_offscreen_renderer=True` and collect images via `obs['agentview_image']`.

Imports

make

wrong

from robosuite import make

correct

import robosuite as suite; env = suite.make('Lift', ...)

make is a module-level function, not directly importable.

load_controller_config

wrong

from robosuite.utils import load_controller_config

correct

from robosuite.controllers import load_controller_config

Moved to robosuite.controllers in v1.5.

GymWrapper

wrong

from robosuite.wrappers.gym_wrapper import GymWrapper

correct

from robosuite.wrappers import GymWrapper

Old import path works but is deprecated, new path is robosuite.wrappers.

Quickstart

Minimal example creating a Lift environment with a Panda robot and OSC_POSE controller. No rendering.

import robosuite as suite
from robosuite.controllers import load_controller_config

config = load_controller_config(default_controller='OSC_POSE')
env = suite.make(
    'Lift',
    robots='Panda',
    controller_configs=config,
    has_renderer=False,
    has_offscreen_renderer=False,
    use_camera_obs=False,
)
env.reset()
for i in range(10):
    action = env.action_space.sample()
    obs, reward, done, info = env.step(action)
    if done:
        break
env.close()